EP3765244B1 - Articulation avec profilé multifonctionnel pour manipulateur - Google Patents

Articulation avec profilé multifonctionnel pour manipulateur

Info

Publication number
EP3765244B1
EP3765244B1 EP19708987.3A EP19708987A EP3765244B1 EP 3765244 B1 EP3765244 B1 EP 3765244B1 EP 19708987 A EP19708987 A EP 19708987A EP 3765244 B1 EP3765244 B1 EP 3765244B1
Authority
EP
European Patent Office
Prior art keywords
joint
worm
profile member
function profile
gear
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP19708987.3A
Other languages
German (de)
English (en)
Other versions
EP3765244C0 (fr
EP3765244A1 (fr
Inventor
Martin Raak
Felix BERGER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Igus SE and Co KG
Original Assignee
Igus GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Igus GmbH filed Critical Igus GmbH
Publication of EP3765244A1 publication Critical patent/EP3765244A1/fr
Application granted granted Critical
Publication of EP3765244C0 publication Critical patent/EP3765244C0/fr
Publication of EP3765244B1 publication Critical patent/EP3765244B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/08—Program-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators

Definitions

  • the invention relates to a joint with a multifunctional profile for a manipulator, wherein the multifunctional profile is designed as a supporting connecting element between a motor of the manipulator and the joint.
  • the transmission is designed as a linear transmission with a gearwheel as the transmission wheel and a rack element as the further transmission element, which is fixed in a fixed position in the first receiving groove of the associated multifunctional profile, which is open towards the gearwheel in the installed position.
  • the gearwheel designed as a gearwheel, is arranged outside the housing accommodating the joint, as an extension of the drive shaft of a motor.
  • the further transmission element designed as a rack element, is also arranged outside the housing accommodating the joint, extending over one end face of the same.
  • a manipulator with a plurality of profiles as load-bearing connecting elements between two joints of the manipulator and a joint of the manipulator and a motor is known, wherein the profiles are at least partially identical in terms of their profile design, have receiving grooves extending laterally in the longitudinal direction and open outwards transversely to the longitudinal direction and an inner channel, and at least one of the profiles is designed as a shaft, and the two joints or the one joint each have a gear wheel rotatable about a gear axis and arranged in a housing of the joint and a further gear element arranged in a receiving part of the housing, wherein the gear wheel and the further gear element form a gear.
  • From the EP 1 617 087 A1 is a manipulator with several multifunctional profiles as supporting elements, whereby the multifunctional profiles have a circular outer contour, several laterally extending in the longitudinal direction of the multifunctional profiles and open outwards transversely to the longitudinal direction Have receiving grooves and wherein at least one of the multifunctional profiles is designed as a shaft.
  • An object of the invention is to provide an assembly comprising a joint with a multifunctional profile for a manipulator, which is simple in construction and offers numerous design possibilities.
  • two multifunctional profiles can be used, which can be structurally identical at least in sections with regard to their profile design.
  • This structural similarity does not refer to the absolute sizes of the two multifunctional profiles, but rather generally to the cross-sectional shape or cross-sectional contour.
  • Structural similarity means that the two multifunctional profiles are at least similar, preferably identical, with regard to their cross-sections. However, they can also be congruent, i.e., identical in design.
  • the multifunctional profile is also provided between the motor and the joint, which at least minimizes any thermal influence on the joint.
  • the motor can form a counterweight to the joint.
  • the motor can be of any design and only needs to meet the condition that it is suitable for the respective application.
  • a brushless DC motor can be used as the motor, advantageously due to, among other things, the smaller number of cables required.
  • the multifunctional profile has at least in its
  • the multifunctional profile has a circular outer contour in its basic form.
  • This outer profile which is at least circular in its basic form, allows the multifunctional profile to be easily mounted for rotation, for example to be used for torque transmission.
  • a gear element such as a spur gear
  • a gear element can be easily fitted over the outer profile, which is at least circular in its basic form, in a simple manner, such as by means of a clamp fit.
  • the diverse possible applications of the multifunctional profile are also demonstrated by the fact that, in addition to its use as a load-bearing and stiffening connecting element, it can also be designed as a gear rack.
  • the lateral mounting grooves are designed to open outwards, perpendicular to the longitudinal direction of the multifunctional profile. This allows them to be accessed from the outside, which facilitates assembly and disassembly.
  • the lateral receiving grooves can be arranged at a circumferential spacing. This spacing can be at least substantially equal across the circumference. Adjacent outer grooves on the multifunctional profile can be arranged at a circumferential spacing of at least substantially equal distances, starting from their circumferential center as a reference point.
  • the outer grooves can be designed differently depending on their intended use.
  • the inner channel of the multifunctional profile can have a substantially circular cross-section. This allows for a shaft with a circular cross-section to pass through in a force-mechanically favorable manner, while the shaft is protected in the channel. Furthermore, the diameter of the shaft can be smaller than the diameter of the inner channel, so that the shaft, arranged at a certain distance, preferably the size of a slip, can rotate freely in the channel.
  • a multifunctional profile can be functionally connected to the joint on both the drive side and the drive side. This means that these two multifunctional profiles can perform different functions in one joint.
  • the gear unit is designed as a worm gear unit.
  • the further gear unit element is designed as a worm
  • the effective axis is designed as a drive shaft for the worm.
  • the drive shaft can form an axial extension of the motor shaft coupled to the drive end.
  • the worm is arranged on the effective axis in a rotationally fixed manner.
  • the effective axis is mounted axially on both ends of the worm on the receiving part in a rotationally movable manner.
  • the drive shaft is arranged in a guided manner in the multifunctional profile.
  • the hollow profile can be arranged on and/or in the housing in a rotationally fixed and displacement-fixed manner.
  • the gear is designed as an inverted worm gear with a gear wheel on the drive side and a further gear element on the output side.
  • the multifunctional profile forms the effective axis.
  • the worm wheel is arranged in a rotationally fixed manner on the hollow profile.
  • the hollow profile is rotatably mounted on or in the receiving part of the housing. This results in the possibility of providing, in addition to the multifunctional profile as the drive shaft for the further gear element, a further drive shaft through the channel.
  • the drive shaft can be guided through the hollow profile past or through the joint without transmitting torque to the hollow profile, for example, to couple torque into an adjacent joint.
  • the gear wheel can have a circumferential external thread, and the further threaded component can have spur gearing adapted to the external thread.
  • the multifunctional profile can be arranged as an extension of the motor axis. It can be connected in a rotationally fixed manner to the motor axis at the front via a coupling.
  • the transmission is designed as a linear transmission.
  • the gear wheel is designed as a toothed wheel and the other transmission element as a rack element.
  • the rack element also forms the effective axis and can be arranged on the receiving part in a linearly displaceable manner.
  • the rack element is secured in the second receiving groove of the hollow profile, which is open toward the gear wheel in the installed position.
  • the linear element is arranged in a fixed position in the receiving groove.
  • the second receiving groove is arranged on an outer side of the hollow profile diametrically opposite the effective axis.
  • the joint as a whole and/or the transmission components can be designed in a modular manner.
  • the manipulator can be designed in a modular manner. Accordingly, the manipulator, particularly its components such as the joint, transmission, multifunctional profile, and motor, can be assembled easily and in a wide variety of ways thanks to the modular design based on a modular principle.
  • the joints 1 each have a gear wheel 2 rotatable about a gear axis g.
  • the gear wheel 2 is rotatably mounted on both sides via adapters 22 in bearings 7 in a housing 3 of the joint 1.
  • the two adapters 22 each have, on their side 23 facing away from the end face 21 of the gear wheel 2, an opening 24 with an internal thread 25 that is central to the gear rotation axis g.
  • the housing 3 has a receiving part 31 for receiving a further gear element 4.
  • the additional gear element 4 is arranged transversely, here perpendicular to the gear rotation axis g, on an effective axis w.
  • the effective axis w is positioned at a distance from the gear rotation axis g in the distance direction a.
  • the gear rotation axis g, the distance direction a, and the effective axis w are arranged perpendicular to one another.
  • the gear element 4 is operatively connected to the periphery of the gear wheel 2.
  • the gear wheel 2 and the additional gear element 4 form a gear G for transmitting a motor torque coupled into the joint 1.
  • the motor 5 is arranged at a distance from the respective associated joint 1.
  • the gear G of the joint 1 is configured as a worm gear G1 with a gear wheel 2 on the output side designed as a worm wheel 26 and a further gear element 4 on the input side designed as a worm 41.
  • the effective axis w here is a drive shaft 51 driven directly by a motor 5.
  • the Worm 41 is arranged in a clamping fit on the drive shaft 51.
  • the drive shaft 51 is, as Figure 1C removable, arranged in a protected manner in a central inner channel 81 of a multifunctional profile 8.
  • the inner channel 81 has a substantially circular cross-section in terms of its basic shape.
  • two longitudinal chambers 87 are provided lateral to the inner channel 81, for example for holding lubricant, for routing cables and/or for saving material.
  • the longitudinal chambers 87 extend over the entire length of the multifunctional profile 8. In terms of their cross-section, the longitudinal chambers 87 extend the inner channel 81. They are arranged and designed mirror-symmetrically with respect to a connecting line between the second 85 and third receiving groove 86.
  • the multifunctional profile 8 is firmly connected to the receiving part.
  • the multifunctional profile 8 is arranged as a load-bearing connecting element between the joint 1 and the motor 5.
  • the hollow profile 8 serves to protect, guide, and reinforce, particularly as a reinforcement with regard to operational rigidity, the section of the manipulator M between the motor 5 and the joint 1.
  • the drive shaft 51 is rotatably mounted on the receiving part 31 via a bearing 7 on both sides of the worm 41, axially relative to the effective axis w.
  • the hollow profile 8 itself is arranged in a rotationally and displacement-resistant manner relative to the receiving part 31.
  • undercut first receiving grooves 82 are provided on both sides 23 of the hollow profile 8, into which anchor projections provided on the receiving part 31 engage for the rotationally fixed mounting of the hollow profile 8.
  • the hollow profile 8 has two sections for the engagement of the worm wheel 26 in the worm 41, ie a first section 83 and a second section 84.
  • the two sections 83; 84 are arranged spaced from one another via the two bearings 7 resting on the hollow profile 8 with respect to the effective axis w of the drive shaft 51 and the axial extension of the worm 41.
  • the two sections 83; 84 each engage with an end facing the worm 41 on the end face of the bearing 7 assigned to them, that is, in each case with respect to the direction from the adjusting device to the worm 41, a front bearing 73 and a rear bearing 74, wherein they are each abutted on the receiving part 31 with their other end facing away from the worm 41.
  • the second section 84 in Figure 1C arranged on the right, is supported by a clamping element 65. In the working position, this rests circumferentially, here with frictional engagement, radially outwardly on the second section 84.
  • the clamping element 65 is further arranged so as to be screwable on the receiving part 31.
  • the clamping element 65 is designed such that, as the screwing on the receiving part 31 progresses, it exerts a correspondingly increasing radial frictional force on the second section 84, which in this application brings about a frictional engagement with the second section 84.
  • the multifunctional profile 8 thus serves here as a support for the clamping elements 65 and for securing them.
  • the first section 83 in Figure 1C arranged on the left, rests with its abutting end on the front side in a force-transmitting manner on an adjusting device 67 for setting an axial play adjustment of the operative connection between the worm wheel 26 and the worm 41 with respect to the effective axis.
  • the adjusting device 67 has an adjusting device 671, via which the first section 83 of the hollow profile 8 is pressed axially in the direction from the adjusting device 67 to the worm 41 against the front bearing 73 for setting the play, which in turn can be pressed against the worm 41 until it is free of play.
  • the multifunctional profile 8 is used in another function as part of the adjusting device 67.
  • the joints 1 can be divided into a first group U1 and a second group U2 based on their functional relationship, whereby the Figure 11 The second group U2 arranged above is already based on Figure 9
  • the second group U2 is fixed to a base B.
  • the two outer joints 1 of the first group U1 are each connected via a multifunctional profile 1 with an inserted rack element 43 with a Figure 11 connected to a motor 5 arranged above, the torque of which is transmitted to the respectively assigned outer joint 1 via a drive shaft 51 (not visible here) running through the respective multifunctional profile 1.
  • the respectively assigned multifunctional profile 8 with inserted rack element 43 is moved linearly by the two joints 1 with linear gear G3.
  • the joint 1 arranged centrally in the first group U1 is also equipped with a linear gear G3 (not visible here), by means of which the multifunctional profile 8 passing through this joint 1 is moved linearly.
  • FIGS 12A and 12B a sectional view and a bottom view of another embodiment of the manipulator M, here with five or six joints 1, respectively, is shown.
  • the rack elements 43 inserted into the multifunctional profiles 8 are concealed, as they point toward the gear wheel 2 of the respective associated joint 1.
  • the inserted joints 1 can also be divided into two groups U2;U3.
  • the joints 1 of both groups U2;U3 are arranged coaxially on a gear rotation axis g.
  • the group on the left here is the second group U2 already mentioned. Since the rack elements 43, each attached to a hollow profile 8, are held parallel to each other and moved synchronously in a linear manner, they can, as in Figure 12 intended to be firmly connected to each other via cross bars 99 for their stabilization.
  • the multifunctional profile 8 connects the associated motor 5 arranged above with another single joint 1.
  • the drive shaft 51 driven by the motor 5 is guided in a multifunctional profile 8 by the Figure 12A right joint 1. It passes through the connecting bearing 53 provided on the joint 1 in order to be connected to the gear wheel of the individual joint 1 located below in a torque-transmitting manner.
  • This individual joint 1 has a linear gear (G3) concealed here, which is indirectly indicated by the connected multifunctional profile 8 with the rack element 43.
  • the Figure 12A Right joint 1 of the third group U3 has an inverted worm gear G3.
  • the further gear element 4 is arranged on the output side, is driven by the gear wheel 2 on the input side here and is seated here in a rotationally fixed manner on the multifunctional profile 8, which also drives this.
  • the multifunctional profile 8 thus also serves as a shaft.
  • the multifunctional profile 8 absorbs the torque transmitted via the inverted worm gear G2 of the motor 5 (here on the right) and couples it via the connecting bearing 53 into the housing 3 of the individual joint 1 arranged below, whereby the joint 1 is rotated about this multifunctional profile 8.
  • the left joint 1 has a worm gear G1 driven by the downward-facing motor 5. This couples the torque into the housing 3 of the right joint 1 of the third group U3, so that the right joint 1 with the connected motors 5 is rotated about the gear rotation axis g.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Gear Transmission (AREA)

Claims (7)

  1. Articulation (1) avec un profilé multifonctionnel (8) pour un manipulateur (M), le profil multifonctionnel (8) étant conçu comme élément de liaison porteur entre un moteur (5) du manipulateur (M) et l'articulation (1) et comportant un canal intérieur (81), un contour extérieur de forme circulaire dans sa forme de base et des rainures de réception latérales pour la fixation du profilé multifonctionnel (8) sur un boîtier (3) de l'articulation (1) et/ou pour la fixation de composants supplémentaires, les rainures de réception étant réalisées transversalement à la direction longitudinale du profilé multifonctionnel (8) sont ouvertes vers l'extérieur, le boîtier (3) présentant des saillies s'engageant dans les rainures de réception pour fixer le profilé multifonctionnel (8) sur le boîtier (3), l'articulation (1) comportant un engrenage à vis sans fin (G) qui comprend une roue dentée (2) pouvant tourner autour d'un axe de rotation (g) de l'engrenage (2) et une vis sans fin (41) qui est en liaison active avec la roue d'engrenage (2) et présente un axe d'action (w) espacé de l'axe de rotation (g) de l'engrenage, par l'intermédiaire duquel la vis sans fin (41) est montée sur une partie de réception (31) du boîtier (3), l'axe d'action (w) étant formé par un arbre d'entraînement (51) de la vis sans fin (41) entraîné directement par le moteur (5), l'arbre d'entraînement (51) étant monté axialement de manière rotative de part et d'autre de la vis sans fin (41) par l'intermédiaire d'un palier (7) sur la partie de réception (31) et est guidé dans le canal intérieur (81) du profilé multifonctionnel (8), le profilé multifonctionnel (8) comportant deux sections (83, 84) qui sont espacées axialement l'une de l'autre sur l'extension axiale de la vis sans fin et des deux paliers (7), les sections (83, 84) s'engageant chacune avec une extrémité tournée vers la vis sans fin (41) frontalement sur le palier associé (7) et s'appuyant chacune avec une extrémité opposée à la vis sans fin (41) sur la partie de réception (31), la première partie (83) s'appuyant avec son extrémité opposée à la vis sans fin (41) de manière à transmettre la force sur un dispositif de réglage (67) pour le réglage du jeu axial par rapport à l'axe d'action (w) de la liaison active entre la roue dentée (2) (2) et la vis sans fin (41), le dispositif de réglage (67) comportant un actionneur (671) pour presser la première partie (83) axialement dans la direction allant du dispositif de réglage (67) vers la vis sans fin (41) contre le palier associé (7), afin de presser le palier (7) contre la vis sans fin (41) pour régler le jeu.
  2. Articulation (1) avec un profilé multifonctionnel (8) selon la revendication 1, caractérisée en ce que les rainures de logement latérales sont disposées sur le pourtour à au moins un espacement sensiblement identique.
  3. Articulation (1) avec un profilé multifonctionnel (8) selon l'une quelconque des revendications précédentes, caractérisée en ce que les rainures de logement sont réalisées en contre-dépouille.
  4. Articulation (1) avec un profilé multifonctionnel (8) selon l'une quelconque des revendications précédentes, caractérisée en ce que le canal intérieur (81) présente une section transversale essentiellement circulaire.
  5. Articulation (1) avec un profilé multifonctionnel (8) selon l'une quelconque des revendications précédentes, caractérisée en ce que le canal intérieur (81) présente au moins une chambre longitudinale latérale (87) pour recevoir du lubrifiant, pour faire passer une conduite et/ou pour économiser de la matière.
  6. Articulation (1) avec un profilé multifonctionnel (8) selon l'une quelconque des revendications précédentes, caractérisée en ce que le profilé multifonctionnel (8) présente une section transversale constante le long de son extension longitudinale et est en particulier une partie coupée à longueur d'une barre profilée extrudée.
  7. Manipulateur comprenant une articulation (1) avec un profilé multifonctionnel (8) selon l'une quelconque des revendications précédentes, au moins un autre profilé multifonctionnel étant prévu, qui est réalisé sous forme d'arbre, et les deux profilés multifonctionnels étant identiques au moins en partie en ce qui concerne leur configuration de profil.
EP19708987.3A 2018-03-15 2019-02-27 Articulation avec profilé multifonctionnel pour manipulateur Active EP3765244B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202018101463.3U DE202018101463U1 (de) 2018-03-15 2018-03-15 Manipulator mit Gelenken und Multifunktionsprofil hierfür
PCT/EP2019/054794 WO2019174912A1 (fr) 2018-03-15 2019-02-27 Manipulateur pourvu d'articulations et profilé multifonctionnel pour celui-ci

Publications (3)

Publication Number Publication Date
EP3765244A1 EP3765244A1 (fr) 2021-01-20
EP3765244C0 EP3765244C0 (fr) 2025-10-08
EP3765244B1 true EP3765244B1 (fr) 2025-10-08

Family

ID=62117354

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19708987.3A Active EP3765244B1 (fr) 2018-03-15 2019-02-27 Articulation avec profilé multifonctionnel pour manipulateur

Country Status (9)

Country Link
US (1) US11981024B2 (fr)
EP (1) EP3765244B1 (fr)
JP (1) JP7217285B2 (fr)
KR (1) KR102425149B1 (fr)
CN (1) CN112368115B (fr)
BR (1) BR112020018440A2 (fr)
CA (1) CA3095807C (fr)
DE (1) DE202018101463U1 (fr)
WO (1) WO2019174912A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3112095B1 (fr) * 2020-07-03 2024-08-23 Drb Methodes & Applications Robot présentant une structure intra modulaire

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JP2572483B2 (ja) * 1990-10-16 1997-01-16 本田技研工業株式会社 産業用ロボット装置
NL1010446C2 (nl) * 1998-11-02 2000-05-03 Exact Dynamics B V Manipulator.
JP4135853B2 (ja) 2000-05-02 2008-08-20 株式会社ニチリョク 提示装置
JP2002066965A (ja) 2000-09-01 2002-03-05 Koganei Corp 卓上型ロボット
FR2861843B1 (fr) 2003-10-29 2006-07-07 Romain Granger Dispositif de connexion associe a un bras d'appareil de mesure tridimentionnelle a bras articules
EP1617087A1 (fr) * 2004-07-13 2006-01-18 NORGREN Automotive GmbH Dispositif de support
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CN201934582U (zh) * 2010-12-07 2011-08-17 配天(安徽)电子技术有限公司 蜗杆减速器、机器人关节及机器人
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EP3415283B1 (fr) 2016-02-10 2021-06-09 Advanced Telecommunications Research Institute International Structure de joint à entraînement externe
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Also Published As

Publication number Publication date
US11981024B2 (en) 2024-05-14
JP2021518274A (ja) 2021-08-02
DE202018101463U1 (de) 2018-04-25
CA3095807A1 (fr) 2019-09-19
EP3765244C0 (fr) 2025-10-08
CN112368115B (zh) 2024-04-19
JP7217285B2 (ja) 2023-02-02
CN112368115A (zh) 2021-02-12
US20210114234A1 (en) 2021-04-22
CA3095807C (fr) 2023-10-03
WO2019174912A1 (fr) 2019-09-19
KR102425149B1 (ko) 2022-07-27
BR112020018440A2 (pt) 2020-12-29
EP3765244A1 (fr) 2021-01-20
KR20200128434A (ko) 2020-11-12

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